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to all synchronous digital circuits. EDA (electronic design automation) tools are driven by the system clock to optimize and validate synthesis, layout, static timing analysis, and so forth. Thus, the system clock or clocks are sacred and must be characterized up front to drive the implementation process. Clocks are even more sacred in FPGAs than they are in ASICs, and thus there is less exibility relative to creative clock structures. When a clock is gated even in the most trivial sense, the new net that drives the clock pins is considered a new clock domain. This new clock net will require a low-skew path to all ip- ops in its domain, similar to the system clock from which it was derived. For the ASIC designer, these low-skew lines can be built in the custom clock tree, but for the FPGA designer this presents a problem due to the limited number and xed layout of the low-skew lines.

The sports sections of the New York Daily News and New York Post were opened across one out of three desks, at the least Most traders wore casual clothes If a guy had a sport coat of any kind, it was strewn over the back of his chair or on the floor Everywhere I looked around the trading floor, there were computer screens and on those screens, charts Not so different from the charts I would see if I watched business news on television, which was mostly never Every trader I could see in fact, all of them had at least three flat panel computer monitors, and some had four At least one of those screens on each desk was showing some form of financial charts The charts still made no sense to me But obviously they were indispensable.

The answer, likely tied to the topological properties of the combination (scene, Start, Target), is still awaiting a probing researcher 34 COMBINING GOOD FEATURES OF BASIC ALGORITHMS Each of the algorithms Bug1 and Bug2 has a clear and simple, and quite distinct, underlying idea: Bug1 sticks to every obstacle it meets until it explores it fully; Bug2 sticks to the M-line (line (Start, Target)) Each has its pluses and minuses Algorithm Bug1 never creates local cycles; its worse-case performance looks remarkably good, but it tends to be overcautious and will never cover less than the full perimeter of an obstacle on its way Algorithm Bug2, on the other hand, is more human in that it can take a risk.

Before directly addressing the issues related to gated clocks, we must rst brie y review the topic of clock skew. The concept of clock skew is a very important one in sequential logic design. In Figure 3.2, the propagation delay of the clock signal between the rst ip op and the second ip- op is assumed to be zero. If there is positive delay through the cloud of combinatorial logic, then timing compliance will be determined by the clock period relative to the combinatorial delay logic routing

It takes advantage of simpler situations; it can do quite well even in complex scenes in spite of its frighteningly high worst-case performance but it may become quite inef cient, much more so than Bug1, in some unlucky cases The dif culties that algorithm Bug2 may face are tied to local cycles situations when the robot must make circles, visiting the same points of the obstacle boundaries more than once The source of these dif culties lies in what we called in-position situations (see the Bug2 analysis above) The problem is of topological nature As the above estimates of Bug2 average behavior show, its performance in out-positions situations may be remarkably good; these are situations that mobile robots will likely encounter in real-life scenes On the other hand, xing the procedure so as to handle in-position situations well would be an important improvement.

It was one more thing I was going to have to learn Instead of spending more time gawking at the trading operation, I decided I d be better off just getting over to see Anderson, and then getting back upstairs to check on my trade I hurried to the conference room where I saw a thin, blond man, with wire glasses and a bow tie, standing by a sea of papers on a glass conference table Although he had boyish looks, it was obvious he was an important person around here, just from the way he stood at the table in deep thought, with his hand rubbing his chin Maybe it was his ability to look so calm while there was so much madness happening right on the other side of the glass conference room He grinned at me when I opened the door.

One simple idea for doing this is to attempt a procedure that combines the better features of both basic algorithms (As always, when attempting to combine very distinct ideas, the punishment will be the loss of simplicity and elegance of both algorithms) We will call this procedure BugM1 (for modi ed ) [59] The procedure combines the ef ciency of algorithm Bug2 in simpler scenes (where MA will pass only portions, instead of full perimeters, of obstacles, as in Figure 35) with the more conservative, but in the limit the more economical, strategy of algorithm Bug1 (see the bound (37)) The idea is simple: Since Bug2 is quite good except in cases with local cycles, let us try to switch to Bug1 whenever MA concludes that it is in a local cycle.